JP5690322B2 - 交通に参加するオブジェクトを監視し、予測するコンピュータを備える乗り物 - Google Patents
交通に参加するオブジェクトを監視し、予測するコンピュータを備える乗り物 Download PDFInfo
- Publication number
- JP5690322B2 JP5690322B2 JP2012267078A JP2012267078A JP5690322B2 JP 5690322 B2 JP5690322 B2 JP 5690322B2 JP 2012267078 A JP2012267078 A JP 2012267078A JP 2012267078 A JP2012267078 A JP 2012267078A JP 5690322 B2 JP5690322 B2 JP 5690322B2
- Authority
- JP
- Japan
- Prior art keywords
- state
- sensor
- vehicle
- information
- attractor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000009826 distribution Methods 0.000 claims description 39
- 238000000034 method Methods 0.000 claims description 36
- 238000001914 filtration Methods 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 claims description 5
- 230000002159 abnormal effect Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 claims description 2
- 230000006399 behavior Effects 0.000 description 24
- 230000001953 sensory effect Effects 0.000 description 12
- 238000013459 approach Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
- 239000002245 particle Substances 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000010348 incorporation Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 238000007476 Maximum Likelihood Methods 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 238000000098 azimuthal photoelectron diffraction Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 238000010420 art technique Methods 0.000 description 1
- 238000013476 bayesian approach Methods 0.000 description 1
- 238000013398 bayesian method Methods 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000003449 preventive effect Effects 0.000 description 1
- 238000013515 script Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N5/00—Computing arrangements using knowledge-based models
- G06N5/02—Knowledge representation; Symbolic representation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N7/00—Computing arrangements based on specific mathematical models
- G06N7/01—Probabilistic graphical models, e.g. probabilistic networks
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
- B60W2050/0052—Filtering, filters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
- B60W2554/4026—Cycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
- B60W2554/4029—Pedestrians
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/55—External transmission of data to or from the vehicle using telemetry
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0097—Predicting future conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Computing Systems (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Data Mining & Analysis (AREA)
- General Engineering & Computer Science (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Human Computer Interaction (AREA)
- Probability & Statistics with Applications (AREA)
- Algebra (AREA)
- Computational Mathematics (AREA)
- Mathematical Analysis (AREA)
- Mathematical Optimization (AREA)
- Pure & Applied Mathematics (AREA)
- Computational Linguistics (AREA)
- Traffic Control Systems (AREA)
Description
・ 方向、および
・ 速度(ならびにそれらの任意の導関数)
図1に、提案の予測を生成するための方法の反復ステップ[0]〜[5]を示す。ステップ[0]で、自車は、適切な近似的確率分布(「APD」)によって他の車両の状態を表す。その一例が離散化確率分布であり、離散化確率分布では、各離散化状態がある確率質量(probability mass)を有し、確率質量はエージェントが実際にこの状態にある確率を指定する。オブジェクトの状態推定は少なくともオブジェクトの位置および速度を含み得るが、加えて、この情報のより高次の導関数(場合によっては数桁の)ならびにそれぞれの分散(variance)推定値も含んでいてよい。
Claims (11)
- 少なくとも1つの物理的交通オブジェクトの状態をコンピュータにより予測する方法であって、
前記コンピュータの入力部が、センサからのセンサ情報を受信するステップと、
前記コンピュータの演算部が、前記センサ情報に基づいて、当該センサ情報において表された前記少なくとも1つのオブジェクトの現在状態の近似的確率分布を算出するステップと、
前記演算部が、ベイジアンフィルタリングの概念を使用して前記近似的確率分布を更新することにより、前記少なくとも1つのオブジェクトの将来状態を予測するステップと、
を含み、
前記方法は、前記演算部が少なくとも1つのアトラクタ関数を使用して前記予測するステップを変更し、それぞれのアトラクタ関数が、状況情報に従って決定される前記現在状態から潜在的将来状態までの潜在的状態軌道を表すことを特徴とする、前記方法。 - 前記少なくとも1つのアトラクタ関数について周辺のオブジェクトに関する状況情報を提供するためにセンサを用いて感知を行うステップをさらに含み、
前記センサが、1台または複数のカメラ、レーダ、レーザスキャナ、または車両間通信システムである、請求項1に記載の方法。 - 前記少なくとも1つのアトラクタ関数について静的環境に関する状況情報を提供するためにセンサを用いて環境感知を行うステップをさらに含み、
前記センサが、1台または複数のカメラ、レーダ、レーザスキャナ、GPS/ナビゲーションシステム、またはインフラストラクチャ車両間通信システムである、請求項1または2に記載の方法。 - 前記演算部が、前記少なくとも1つのオブジェクトの新しい現在状態の改善された判定を得るために、前記少なくとも1つのオブジェクトについて複数の将来状態予測を絶えず行うステップと、
前記演算部が、入力される前記センサ情報を用いて各予測をフィルタリングするステップと、
をさらに含む、
請求項1〜3のいずれか1項に記載の方法。 - 前記演算部により、前記少なくとも1つのオブジェクトの予測される将来状態と観測される将来状態との差に基づいて、監視オブジェクトの挙動が正常または異常として分類される、請求項1〜4のいずれか1項に記載の方法。
- 前記演算部により、前記少なくとも1つのオブジェクトの前記将来状態の前記予測の結果として予測される近似的確率分布が得られることを使用して、前記少なくとも1つのオブジェクトについての可能性の高い運動の軌道が導出される、請求項1〜5のいずれか1項に記載の方法。
- 前記演算部により、前記観測される将来状態と前記現在状態の確率分布との比較を使用して、どのアトラクタ関数が前記少なくとも1つのオブジェクトの前記挙動を決定づけたかが推測される、請求項5に記載の方法。
- 前記予測するステップにおいて予測される前記少なくとも1つのオブジェクトの前記将来状態の関数として、視覚信号または音響信号が生成され、あるいは、ハンドル、アクセル、ブレーキといった車両の作動機構が操作される、請求項1〜7のいずれか1項に記載の方法。
- 対応する制御システムにおいてロボット工学の安全のために使用される、請求項1〜7のいずれか1項に記載の方法。
- 少なくとも1つのオブジェクトの状態を予測するための装置であって、
センサ手段と、
前記センサ手段によって感知される前記少なくとも1つのオブジェクトの現在状態の近似的確率分布を求める、前記センサ手段から信号を供給されるように機能的に接続された手段と、
ベイジアンフィルタリングの概念を使用して前記近似的確率分布を更新することにより、前記少なくとも1つのオブジェクトの将来状態を予測する手段と、を備え、
前記装置は、少なくとも1つのアトラクタ関数を使用して前記予測するステップを変更するように適合されており、それぞれのアトラクタ関数が、状況情報に従って決定される前記現在状態から潜在的将来状態までの潜在的状態軌道を表すことを特徴とする、前記装置。 - 請求項10に記載の装置が搭載されている、陸上、航空または海上の乗り物。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP12150808.9A EP2615598B1 (en) | 2012-01-11 | 2012-01-11 | Vehicle with computing means for monitoring and predicting traffic participant objects |
EP12150808.9 | 2012-01-11 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2013143134A JP2013143134A (ja) | 2013-07-22 |
JP5690322B2 true JP5690322B2 (ja) | 2015-03-25 |
Family
ID=45497857
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2012267078A Active JP5690322B2 (ja) | 2012-01-11 | 2012-12-06 | 交通に参加するオブジェクトを監視し、予測するコンピュータを備える乗り物 |
Country Status (3)
Country | Link |
---|---|
US (1) | US9104965B2 (ja) |
EP (1) | EP2615598B1 (ja) |
JP (1) | JP5690322B2 (ja) |
Families Citing this family (75)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8509982B2 (en) | 2010-10-05 | 2013-08-13 | Google Inc. | Zone driving |
GB201201415D0 (en) * | 2012-01-27 | 2012-03-14 | Siemens Plc | Method for traffic state estimation and signal control |
US8718861B1 (en) | 2012-04-11 | 2014-05-06 | Google Inc. | Determining when to drive autonomously |
US9633564B2 (en) | 2012-09-27 | 2017-04-25 | Google Inc. | Determining changes in a driving environment based on vehicle behavior |
US8949016B1 (en) | 2012-09-28 | 2015-02-03 | Google Inc. | Systems and methods for determining whether a driving environment has changed |
US9424745B1 (en) | 2013-11-11 | 2016-08-23 | Emc Corporation | Predicting traffic patterns |
SE539157C2 (sv) * | 2014-02-19 | 2017-04-18 | Scania Cv Ab | Identifikation av säkerhetsrisker i ett fordon för att meddela medtrafikanter |
US9321461B1 (en) | 2014-08-29 | 2016-04-26 | Google Inc. | Change detection using curve alignment |
US9248834B1 (en) | 2014-10-02 | 2016-02-02 | Google Inc. | Predicting trajectories of objects based on contextual information |
US10013508B2 (en) * | 2014-10-07 | 2018-07-03 | Toyota Motor Engineering & Manufacturing North America, Inc. | Joint probabilistic modeling and inference of intersection structure |
EP3006295B1 (de) * | 2014-10-09 | 2020-08-19 | Continental Automotive GmbH | Verfahren zum Betrieb eines Assistenzsystems eines Kraftfahrzeugs sowie Assistenzsystem |
US9573592B2 (en) * | 2014-12-23 | 2017-02-21 | Toyota Motor Engineering & Manufacturing North America, Inc. | Risk mitigation for autonomous vehicles relative to oncoming objects |
US9429946B2 (en) * | 2014-12-25 | 2016-08-30 | Automotive Research & Testing Center | Driving control system and dynamic decision control method thereof |
JP6293652B2 (ja) | 2014-12-26 | 2018-03-14 | 本田技研工業株式会社 | 状態予測システム |
JP6332884B2 (ja) * | 2015-01-16 | 2018-05-30 | 三菱重工機械システム株式会社 | 監視計画の評価システムおよび監視計画の評価方法 |
EP3048023B1 (en) | 2015-01-23 | 2018-11-28 | Honda Research Institute Europe GmbH | Method for assisting a driver in driving an ego vehicle and corresponding driver assistance system |
JP6225927B2 (ja) | 2015-02-02 | 2017-11-08 | トヨタ自動車株式会社 | 車両状態予測システム |
JP6545507B2 (ja) * | 2015-03-31 | 2019-07-17 | アイシン・エィ・ダブリュ株式会社 | 自動運転支援システム、自動運転支援方法及びコンピュータプログラム |
WO2016189495A1 (en) | 2015-05-27 | 2016-12-01 | Van Dyke, Marc | Alerting predicted accidents between driverless cars |
US10031522B2 (en) | 2015-05-27 | 2018-07-24 | Dov Moran | Alerting predicted accidents between driverless cars |
AT517225B1 (de) | 2015-06-12 | 2016-12-15 | Smartbow Gmbh | Verfahren für die Ortung von Tieren mit Hilfe von Funkwellen |
EP3133455B1 (en) * | 2015-08-17 | 2021-04-14 | Honda Research Institute Europe GmbH | System for autonomously or partially autonomously driving a vehicle with a communication module for obtaining additional information from a vehicle driver and corresponding method |
DE102015215929A1 (de) * | 2015-08-20 | 2017-02-23 | Volkswagen Aktiengesellschaft | Vorrichtungen, Verfahren und Computerprogramm zum Bereitstellen von Information über eine voraussichtliche Fahrintention |
DE102016002603A1 (de) * | 2016-03-03 | 2017-09-07 | Audi Ag | Verfahren zur Ermittlung und Bereitstellung einer auf eine vorbestimmte Umgebung bezogenen, Umfelddaten enthaltenden Datenbank |
US10296796B2 (en) * | 2016-04-06 | 2019-05-21 | Nec Corporation | Video capturing device for predicting special driving situations |
EP3232285B1 (en) * | 2016-04-14 | 2019-12-18 | Volvo Car Corporation | Method and arrangement for monitoring and adapting the performance of a fusion system of an autonomous vehicle |
US9971352B1 (en) * | 2016-11-17 | 2018-05-15 | GM Global Technology Operations LLC | Automated co-pilot control for autonomous vehicles |
US11364899B2 (en) * | 2017-06-02 | 2022-06-21 | Toyota Motor Europe | Driving assistance method and system |
US10585180B2 (en) | 2017-06-21 | 2020-03-10 | International Business Machines Corporation | Management of mobile objects |
US10504368B2 (en) | 2017-06-21 | 2019-12-10 | International Business Machines Corporation | Management of mobile objects |
US10535266B2 (en) | 2017-06-21 | 2020-01-14 | International Business Machines Corporation | Management of mobile objects |
US10600322B2 (en) | 2017-06-21 | 2020-03-24 | International Business Machines Corporation | Management of mobile objects |
US10546488B2 (en) | 2017-06-21 | 2020-01-28 | International Business Machines Corporation | Management of mobile objects |
US10540895B2 (en) | 2017-06-21 | 2020-01-21 | International Business Machines Corporation | Management of mobile objects |
US11048927B2 (en) * | 2017-10-24 | 2021-06-29 | Waymo Llc | Pedestrian behavior predictions for autonomous vehicles |
KR102106875B1 (ko) * | 2017-10-24 | 2020-05-08 | 엔에이치엔 주식회사 | 차량학습에 기반한 자율주행 중 사고 회피 시스템 및 방법 |
US20180079422A1 (en) * | 2017-11-27 | 2018-03-22 | GM Global Technology Operations LLC | Active traffic participant |
US10156850B1 (en) | 2017-12-08 | 2018-12-18 | Uber Technologies, Inc. | Object motion prediction and vehicle control systems and methods for autonomous vehicles |
JP6970008B2 (ja) * | 2017-12-25 | 2021-11-24 | トヨタ自動車株式会社 | 車両制御システム |
JPWO2019131388A1 (ja) * | 2017-12-27 | 2020-12-17 | 日本電気通信システム株式会社 | 運転支援装置、運転支援システム、運転支援方法、及び、運転支援プログラム |
US11718303B2 (en) * | 2018-01-03 | 2023-08-08 | Toyota Research Institute, Inc. | Vehicles and methods for building vehicle profiles based on reactions created by surrounding vehicles |
US11906625B2 (en) * | 2018-01-08 | 2024-02-20 | The Regents Of The University Of California | Surround vehicle tracking and motion prediction |
WO2019138443A1 (ja) * | 2018-01-09 | 2019-07-18 | 三菱電機株式会社 | 移動経路推定装置、移動経路推定システムおよび移動経路推定方法 |
US11458964B2 (en) * | 2018-01-10 | 2022-10-04 | Hitachi Astemo, Ltd. | Driver assistance device, driver assistance method, and driver assistance system |
CN108761509B (zh) * | 2018-04-09 | 2021-04-23 | 吉林大学 | 一种基于历史数据的汽车行驶轨迹及里程预测方法 |
EP3552904B1 (en) * | 2018-04-10 | 2023-05-31 | Bayerische Motoren Werke Aktiengesellschaft | Method, device and computer program product for predicting the development of a traffic scene involving several participants |
US20190354100A1 (en) * | 2018-05-21 | 2019-11-21 | Board Of Regents, The University Of Texas System | Bayesian control methodology for the solution of graphical games with incomplete information |
US10745011B2 (en) | 2018-05-31 | 2020-08-18 | Nissan North America, Inc. | Predicting yield behaviors |
US11040729B2 (en) | 2018-05-31 | 2021-06-22 | Nissan North America, Inc. | Probabilistic object tracking and prediction framework |
US10569773B2 (en) | 2018-05-31 | 2020-02-25 | Nissan North America, Inc. | Predicting behaviors of oncoming vehicles |
US10564643B2 (en) | 2018-05-31 | 2020-02-18 | Nissan North America, Inc. | Time-warping for autonomous driving simulation |
DE102018210280A1 (de) | 2018-06-25 | 2020-01-02 | Robert Bosch Gmbh | Anpassung der Trajektorie eines Ego-Fahrzeugs an bewegte Fremdobjekte |
US10766487B2 (en) | 2018-08-13 | 2020-09-08 | Denso International America, Inc. | Vehicle driving system |
US10969789B2 (en) | 2018-11-09 | 2021-04-06 | Waymo Llc | Verifying predicted trajectories using a grid-based approach |
US11124185B2 (en) * | 2018-11-13 | 2021-09-21 | Zoox, Inc. | Perception collision avoidance |
US11199846B2 (en) * | 2018-11-29 | 2021-12-14 | Baidu Usa Llc | Learning-based dynamic modeling methods for autonomous driving vehicles |
JP7176376B2 (ja) | 2018-11-30 | 2022-11-22 | トヨタ自動車株式会社 | 車両の制御装置 |
EP3693943B1 (en) * | 2019-02-05 | 2024-05-29 | Honda Research Institute Europe GmbH | Method for assisting a person in acting in a dynamic environment and corresponding system |
US11110917B2 (en) * | 2019-05-13 | 2021-09-07 | Great Wall Motor Company Limited | Method and apparatus for interaction aware traffic scene prediction |
US11447142B1 (en) | 2019-05-16 | 2022-09-20 | Waymo Llc | Assessing surprise for autonomous vehicles |
RU2767955C1 (ru) * | 2019-05-27 | 2022-03-22 | Общество с ограниченной ответственностью "Яндекс Беспилотные Технологии" | Способы и системы для определения компьютером наличия динамических объектов |
CN110304075B (zh) * | 2019-07-04 | 2020-06-26 | 清华大学 | 基于混合动态贝叶斯网络和高斯过程的车辆轨迹预测方法 |
US11292458B2 (en) | 2019-07-31 | 2022-04-05 | Toyota Research Institute, Inc. | Autonomous vehicle user interface with predicted trajectories |
US11292457B2 (en) | 2019-07-31 | 2022-04-05 | Toyota Research Institute, Inc. | Autonomous vehicle user interface with predicted trajectories |
US11328593B2 (en) | 2019-07-31 | 2022-05-10 | Toyota Research Institute, Inc. | Autonomous vehicle user interface with predicted trajectories |
KR20220050184A (ko) * | 2019-08-23 | 2022-04-22 | 볼보 트럭 코퍼레이션 | 극단 트랙픽 거동을 정량화하기 위한 방법 |
US11603098B2 (en) * | 2019-08-27 | 2023-03-14 | GM Global Technology Operations LLC | Systems and methods for eye-tracking data collection and sharing |
US11663514B1 (en) * | 2019-08-30 | 2023-05-30 | Apple Inc. | Multimodal input processing system |
DE102019215680B3 (de) * | 2019-10-11 | 2021-01-07 | Audi Ag | Verfahren zum Vorhersagen eines Verhaltens eines Zielfahrzeugs |
EP3812954A1 (en) * | 2019-10-21 | 2021-04-28 | Zenuity AB | Performance monitoring and evaluation of a vehicle adas or autonomous driving feature |
CN110920631B (zh) * | 2019-11-27 | 2021-02-12 | 北京三快在线科技有限公司 | 控制车辆的方法、装置、电子设备及可读存储介质 |
US20210197805A1 (en) * | 2019-12-27 | 2021-07-01 | Motional Ad Llc | Safety system for vehicle |
US12017686B1 (en) | 2021-08-11 | 2024-06-25 | Waymo Llc | Assessing surprise for autonomous vehicles |
US11830257B2 (en) * | 2021-10-14 | 2023-11-28 | Valeo Schalter Und Sensoren Gmbh | Method, apparatus, and non-transitory computer readable storage medium for confirming a perceived position of a traffic light |
EP4220601A1 (en) * | 2022-01-27 | 2023-08-02 | Continental Autonomous Mobility Germany GmbH | Method and device for locating a traffic participant, and vehicle |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2002088896A2 (en) * | 2001-05-02 | 2002-11-07 | Groundhog Technologies Inc. | Method and system for estimating subject position base on chaos theory |
DE102007049516A1 (de) | 2006-10-13 | 2008-04-24 | A.D.C. Automotive Distance Control Systems Gmbh | System zur Bestimmung von Objekten |
US7839292B2 (en) | 2007-04-11 | 2010-11-23 | Nec Laboratories America, Inc. | Real-time driving danger level prediction |
JP5082955B2 (ja) | 2008-03-14 | 2012-11-28 | オムロン株式会社 | 車両検出装置および方法、並びに、プログラム |
JP5329856B2 (ja) * | 2008-06-27 | 2013-10-30 | 本田技研工業株式会社 | 行動推定システム |
US8489317B2 (en) | 2008-08-29 | 2013-07-16 | Toyota Motor Engineering & Manufacturing North America, Inc. | System and method for stochastically predicting the future states of a vehicle |
WO2011009009A1 (en) | 2009-07-15 | 2011-01-20 | Massachusetts Institute Of Technology | Methods and apparati for predicting and quantifying threat being experienced by a modeled system |
JP5316392B2 (ja) | 2009-12-11 | 2013-10-16 | トヨタ自動車株式会社 | 運転支援装置 |
JP5489965B2 (ja) * | 2009-12-24 | 2014-05-14 | 本田技研工業株式会社 | 行動制御システムおよびロボット |
US8768874B2 (en) * | 2011-04-08 | 2014-07-01 | The United States Of America As Represented By The Secretary Of The Army | Predicting the outcome of a chaotic system using Lyapunov exponents |
US9116838B2 (en) * | 2011-04-08 | 2015-08-25 | The United States Of America As Represented By The Secretary Of The Army | Determining lyapunov exponents of a chaotic system |
-
2012
- 2012-01-11 EP EP12150808.9A patent/EP2615598B1/en not_active Not-in-force
- 2012-12-06 JP JP2012267078A patent/JP5690322B2/ja active Active
-
2013
- 2013-01-07 US US13/735,064 patent/US9104965B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
JP2013143134A (ja) | 2013-07-22 |
EP2615598B1 (en) | 2017-12-06 |
US20130179382A1 (en) | 2013-07-11 |
EP2615598A1 (en) | 2013-07-17 |
US9104965B2 (en) | 2015-08-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5690322B2 (ja) | 交通に参加するオブジェクトを監視し、予測するコンピュータを備える乗り物 | |
JP6650214B2 (ja) | 衝突後操縦計画を行う方法及びシステム、並びに当該システムを備える車両 | |
JP6800899B2 (ja) | 視界に制限のある交差点への接近のためのリスクベースの運転者支援 | |
Noh et al. | Decision-making framework for automated driving in highway environments | |
JP6822752B2 (ja) | アクティブ車両制御のための運転支援技術 | |
CN109421742B (zh) | 用于监测自主车辆的方法和设备 | |
JP6987490B2 (ja) | 旋回予測 | |
JP6764945B2 (ja) | 車両の運転および自動運転を簡易化する方法 | |
Wu et al. | A method of vehicle motion prediction and collision risk assessment with a simulated vehicular cyber physical system | |
US9889858B2 (en) | Confidence estimation for predictive driver assistance systems based on plausibility rules | |
CN110733501B (zh) | 用于自动避免碰撞的方法 | |
Lytrivis et al. | An advanced cooperative path prediction algorithm for safety applications in vehicular networks | |
CN109841088B (zh) | 车辆驾驶辅助系统及方法 | |
Batz et al. | Recognition of dangerous situations within a cooperative group of vehicles | |
de Campos et al. | Collision avoidance at intersections: A probabilistic threat-assessment and decision-making system for safety interventions | |
US20150057907A1 (en) | Consistent behavior generation of a predictive advanced driver assistant system | |
JP2013218678A (ja) | 路上車両の経路についての情報の決定方法 | |
JP2015082324A (ja) | 予測的運転者支援システムのための複合信頼度推定 | |
US11351996B2 (en) | Trajectory prediction of surrounding vehicles using predefined routes | |
Kim et al. | Probabilistic threat assessment with environment description and rule-based multi-traffic prediction for integrated risk management system | |
JP2013242615A (ja) | 運転シーン遷移予測装置および車両用推奨運転操作提示装置 | |
JP2021504218A (ja) | 状態推定器 | |
Schratter et al. | Pedestrian collision avoidance system for autonomous vehicles | |
Wang et al. | Online safety assessment of automated vehicles using silent testing | |
JP7400911B1 (ja) | 自動運転装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20140220 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20140225 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20140430 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20140701 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20140930 |
|
A602 | Written permission of extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A602 Effective date: 20141003 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20141024 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20150120 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20150130 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 5690322 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
RD02 | Notification of acceptance of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: R3D02 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |